CN106392285B - A kind of welding machine and the integrated control method of mechanical hand of Plasma Welding equipment - Google Patents
A kind of welding machine and the integrated control method of mechanical hand of Plasma Welding equipment Download PDFInfo
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- CN106392285B CN106392285B CN201610929820.8A CN201610929820A CN106392285B CN 106392285 B CN106392285 B CN 106392285B CN 201610929820 A CN201610929820 A CN 201610929820A CN 106392285 B CN106392285 B CN 106392285B
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- central processing
- processing unit
- mechanical hand
- welding machine
- plasma welding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/02—Plasma welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Arc Welding Control (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses a kind of welding machine of Plasma Welding equipment and the integrated control methods of mechanical hand comprising following steps: 1) starting up's equipment, and mechanical hand and workbench restore origin；2) transfer line driving mechanism drives and carries out designated position inside workbench to peripheral frame, and inductor detects signal and sends central processing unit to；3) central processing unit basis signal determines and runs mechanical hand；4) mechanical hand is run to solder joint beginning, and control cabinet will weld initiation command and send central processing unit to, and central processing unit, which successively reads relevant parameter from parameter list and is scaled analog signals, sends plasma welding machine to；5) plasma welding machine starts to weld, until mechanical hand is run to when welding shutdown command, control cabinet sends a signal to central processing unit, and central processing unit sends plasma welding machine to for stop signal is welded, and welding terminates.Operational efficiency and operation accuracy can effectively can be improved in the present invention compared to the prior art.
Description
Technical field
The present invention relates to Plasma Welding technical fields, and in particular to a kind of welding machine and mechanical hand of Plasma Welding equipment
Integrated control method.
Background technique
Plasma welding machine is a kind of equipment for realizing metal welding using plasma air-flow, in current some metal plates
There is very extensive application in the production of the metal parts such as part.Plasma welding machine utilizes the raw plasma of plasma (orifice) gas miscarriage
Arc is that plasma air-flow is ionized generation High temperature ion air-flow, sprays from nozzle pore, form elongated arc through compression
Column, temperature is higher, higher than conventional free electric arc, is achieved in welding.
As current factory is towards the development of industrial automation trend, plasma welding machine also has been realized in automation
Operation mode.It is soft for its control since current plasma welding machine mainly includes welding machine and mechanical hand two parts
Part usually can all be divided into two pieces, one piece for controlling the running of transfer line in welding machine, another piece for controlling the movement of mechanical hand.
The major defect of current this control mode is: first is that whole operational paradigm is influenced, the control of operating personnel's execute-in-place
Panel is more complicated；Second is that control operation easily influences operation order accuracy respectively.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides it is a kind of can be improved operational efficiency and run accuracy etc.
The integrated control method of welding machine and mechanical hand of ion welding equipment.
In order to achieve the above object, technical scheme is as follows:
A kind of welding machine and the integrated control method of mechanical hand of Plasma Welding equipment comprising following steps:
1) starting up's equipment, mechanical hand and workbench restore origin, while central processing unit carries out conditions present
Determine, condition are as follows: weld job mode is opened after waiting cold water temperature to reach set temperature；
2) transfer line driving mechanism drives and carries out workbench to designated position inside peripheral frame, in place after, induction
Device detects signal and sends central processing unit to；
3) central processing unit basis signal determines that corresponding program is called in left or right side, and runs mechanical hand；
4) mechanical hand is run to solder joint beginning, and control cabinet sends central processing unit to for initiation command is welded, center
Processing unit successively reads relevant parameter from parameter list and is scaled analog signals and sends plasma welding machine to；
5) plasma welding machine starts to weld, until mechanical hand is run to when welding shutdown command, control cabinet is sent a signal to
Central processing unit, central processing unit send plasma welding machine to for stop signal is welded, and welding terminates.
The welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment provided by the present invention are compared to existing
There is technology to have the advantage that
1) plasma welding machine and mechanical hand have been implemented in combination with to the automation control of Plasma Welding, more efficient, not shadow
Ring the accuracy of operation；
2) difference can be achieved using the output of the analog module control plasma welding machine of central processing unit (such as PLC)
The welding of welding requirements many kinds of parameters, welding range is wider, has prevented to need the movement for adjusting welding current repeatedly in welding.And it welds
Parameter can be adjusted when equipment is run, and not influence to operate normally.
Based on the above technical solution, the present invention can also improve as follows:
As a preferred option, further include step 6): after welding, the end of the program signal is sent to by control cabinet
Central processing unit, central processing unit start transfer line driving mechanism, and transfer line driving mechanism drives and carries back workbench.
Using the above preferred scheme, the safety of operation can be improved.
As a preferred option, when any link breaks down, display alarm information in central processing unit, equipment is run
Lamp red light is bright.
Using the above preferred scheme, the safety of operation can be improved.
As a preferred option, after troubleshooting, failure reset is carried out in central processing unit, red light goes out in equipment, yellow
Lamp is bright.
Using the above preferred scheme, the safety of operation can be improved.
As a preferred option, such as the completion of welding procedure not running, central processing unit, which continues to control, runs not complete program.
Using the above preferred scheme, the safety of operation can be improved.
As a preferred option, when program is run, equipment running indicator green light.
Using the above preferred scheme, the safety of operation can be improved.
As a preferred option, in equipment operation, such as there is exception and press scram button, central processing single-shot goes out emergency stop life
Enable control out of service.
Using the above preferred scheme, the safety of operation can be improved.
Detailed description of the invention
Fig. 1 is a kind of welding machine of Plasma Welding equipment of the invention and the control flow of the integrated control method of mechanical hand
Figure.
Involved in welding machine and the integrated control method of mechanical hand of the Fig. 2 for a kind of Plasma Welding equipment of the invention etc.
The structural schematic diagram of ion welding equipment.
Wherein, 1. mechanical hand, 2. workbench, 21. transfer line driving mechanism, 3. control cabinet.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
In order to reach the purpose of the present invention, as shown in Figs. 1-2, a kind of Plasma Welding equipment of the invention welding machine and
In some of embodiments of the integrated control method of mechanical hand comprising following steps:
S1: starting up's equipment, mechanical hand 1 and workbench 2 restore origin, at the same central processing unit to conditions present into
Row judgement, condition are as follows: weld job mode is opened after waiting cold water temperature to reach set temperature；
S2: transfer line driving mechanism 21, which drives, simultaneously carries out workbench 2 to designated position inside peripheral frame, in place after,
Inductor detects signal and sends central processing unit to；
S3: central processing unit basis signal determines that corresponding program is called in left or right side, and runs mechanical hand 1；
S4: the operation of mechanical hand 1 to solder joint beginning, control cabinet 3 send central processing unit to for initiation command is welded, in
Central Processing Unit successively reads relevant parameter from parameter list and is scaled analog signals and sends plasma welding machine to；
S5: plasma welding machine starts to weld, until control cabinet sends signal when the operation of mechanical hand 1 to welding shutdown command
To central processing unit, central processing unit sends plasma welding machine to for stop signal is welded, and welding terminates.
The welding machine of Plasma Welding equipment provided by the present embodiment a kind of and the integrated control method of mechanical hand compared to
The prior art has the advantage that
1) plasma welding machine and mechanical hand have been implemented in combination with to the automation control of Plasma Welding, more efficient, not shadow
Ring the accuracy of operation；
2) difference can be achieved using the output of the analog module control plasma welding machine of central processing unit (such as PLC)
The welding of welding requirements many kinds of parameters, welding range is wider, has prevented to need the movement for adjusting welding current repeatedly in welding.And it welds
Parameter can be adjusted when equipment is run, and not influence to operate normally.
In order to further optimize implementation result of the invention, as shown in Figs. 1-2, in a kind of Plasma Welding of the invention
In other embodiments of the integrated control method of welding machine and mechanical hand of equipment, on the basis of the above, further include
Step 6): after welding, the end of the program signal is sent to central processing unit by control cabinet 3, and central processing unit opens
Dynamic transfer line driving mechanism 21, transfer line driving mechanism 21 drive and carry back workbench 2.Using the scheme of the embodiment,
The safety of operation can be improved.
In order to further optimize implementation result of the invention, as shown in Figs. 1-2, in a kind of Plasma Welding of the invention
In other embodiments of the integrated control method of welding machine and mechanical hand of equipment, on the basis of the above, when any
Link breaks down, display alarm information in central processing unit, and equipment running indicator red light is bright.Using the side of the embodiment
The safety of operation can be improved in case.
In order to further optimize implementation result of the invention, as shown in Figs. 1-2, in a kind of Plasma Welding of the invention
In other embodiments of the integrated control method of welding machine and mechanical hand of equipment, on the basis of the above, failure row
After removing, failure reset is carried out in central processing unit, red light goes out in equipment, and amber light is bright.It, can be with using the scheme of the embodiment
Improve the safety of operation.
In order to further optimize implementation result of the invention, as shown in Figs. 1-2, in a kind of Plasma Welding of the invention
In other embodiments of the integrated control method of welding machine and mechanical hand of equipment, on the basis of the above, such as weld
Program not running is completed, and central processing unit continues control and runs not complete program.Using the scheme of the embodiment, can be improved
The safety of operation.
In order to further optimize implementation result of the invention, as shown in Figs. 1-2, in a kind of Plasma Welding of the invention
In other embodiments of the integrated control method of welding machine and mechanical hand of equipment, on the basis of the above, program fortune
When row, equipment running indicator green light.Using the scheme of the embodiment, the safety of operation can be improved.
In order to further optimize implementation result of the invention, as shown in Figs. 1-2, in a kind of Plasma Welding of the invention
In other embodiments of the integrated control method of welding machine and mechanical hand of equipment, on the basis of the above, equipment fortune
In row, such as there is exception and press scram button, it is out of service that central processing single-shot goes out emergency stop order control.Using the embodiment
Scheme, the safety of operation can be improved.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection scope.
Claims (7)
1. the welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment, which comprises the following steps:
1) starting up's equipment, mechanical hand and workbench restore origin, while central processing unit determines conditions present,
The condition are as follows: weld job mode is opened after waiting cold water temperature to reach set temperature；
2) transfer line driving mechanism drives and carries out the workbench to designated position inside peripheral frame, in place after, induction
Device detects signal and sends the central processing unit to；
3) the central processing unit basis signal determines that corresponding program is called in left or right side, and runs the mechanical hand；
4) mechanical hand is run to solder joint beginning, and control cabinet sends the central processing unit to for initiation command is welded,
The central processing unit successively reads relevant parameter from parameter list and is scaled analog signals and sends plasma welding machine to；
5) plasma welding machine starts to weld, until mechanical hand is run to when welding shutdown command, the control cabinet sends out signal
The central processing unit is given, the central processing unit sends the plasma welding machine to for stop signal is welded, and welds
Terminate.
2. the welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment according to claim 1, special
Sign is, further includes step 6): after welding, the end of the program signal is sent to the central processing by the control cabinet
Unit, the central processing unit start the transfer line driving mechanism, and the transfer line driving mechanism drives and carries go back to institute
State workbench.
3. the welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment according to claim 1, special
Sign is, when display alarm information, equipment running indicator red light are bright in any link failure, the central processing unit.
4. the welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment according to claim 3, special
Sign is, after troubleshooting, carries out failure reset in the central processing unit, red light goes out in equipment, and amber light is bright.
5. the welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment according to claim 1, special
Sign is that, if welding procedure not running is completed, the central processing unit continues control and runs not complete program.
6. the welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment according to claim 1, special
Sign is, when program is run, equipment running indicator green light.
7. the welding machine and the integrated control method of mechanical hand of a kind of Plasma Welding equipment according to claim 1, special
Sign is, in equipment operation, exception such as occurs and presses scram button, the central processing unit issues emergency stop order control and stops
Only run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610929820.8A CN106392285B (en) | 2016-10-31 | 2016-10-31 | A kind of welding machine and the integrated control method of mechanical hand of Plasma Welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610929820.8A CN106392285B (en) | 2016-10-31 | 2016-10-31 | A kind of welding machine and the integrated control method of mechanical hand of Plasma Welding equipment |
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| CN106392285B true CN106392285B (en) | 2019-01-08 |
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| CN107052532A (en) * | 2017-05-13 | 2017-08-18 | 上乘精密科技（苏州）有限公司 | A kind of argonaut welding control system |
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| SE0101200D0 (en) * | 2001-04-02 | 2001-04-02 | Abb Ab | An industrial robot |
| CN101722373B (en) * | 2008-10-24 | 2011-05-18 | 中煤张家口煤矿机械有限责任公司 | Robot automatic welding production line of middle groove and technological method thereof |
| CN103157922B (en) * | 2011-12-08 | 2016-04-13 | 亿和精密工业（苏州）有限公司 | A kind of parallel orbit robot welding system |
| US9785911B2 (en) * | 2013-07-25 | 2017-10-10 | I AM Robotics, LLC | System and method for piece-picking or put-away with a mobile manipulation robot |
| CN104191117B (en) * | 2014-09-02 | 2015-12-02 | 洁定医疗器械（苏州）有限公司 | A kind of fixture system of automatic welding pressure vessel chuck |
| CN204308433U (en) * | 2014-11-14 | 2015-05-06 | 南京熊猫电子股份有限公司 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
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